CN112776746B - Pedestrian protection system and method - Google Patents

Abstract

The invention provides a pedestrian protection system and a pedestrian protection method, relates to the field of vehicle front bumper airbags, and aims to solve the technical problem of how to prevent a pedestrian from being over-protected when a vehicle collides with the pedestrian. The method comprises the steps of judging whether pedestrians exist within a preset distance, predicting a collision area, judging the relative speed of the vehicle and the pedestrians, and adopting different point explosion strategies according to the number of the pedestrians.

Description

Pedestrian protection system and method

technical field

The invention relates to the field of vehicle front bumper airbags, in particular to a pedestrian protection system and method.

Background technique

At present, although the probability of collision between vehicles and pedestrians is not high, once a collision occurs, it is likely to collide with the front position of the vehicle, which will cause serious damage to pedestrians.

In order to avoid excessive damage to pedestrians when a vehicle collides with pedestrians, some people propose to install an airbag on the front bumper of a vehicle. For example, Chinese Patent Document Application No. CN202010935360.6 discloses a pedestrian protection method, device and equipment and a medium, the method includes acquiring video information shot by a vehicle front-view camera, identifying a shooting object in the video information, and classifying the shooting object; receiving collision strength information sent by a collision sensor, and when the collision strength information exceeds When the threshold value is preset, the type of the photographed object in the current video information is obtained, and it is determined whether the type of the photographed object is a pedestrian;

Although the above-mentioned patent can protect pedestrians, the airbag will be fully deployed regardless of the number of pedestrians. The airbag is a one-time item and needs to be replaced after use. Airbags may overprotect pedestrians, reducing airbag usage.

SUMMARY OF THE INVENTION

Aiming at the above problems existing in the prior art, the present invention provides a pedestrian protection system and method, which solves the technical problem of how to prevent overprotection of pedestrians when vehicles collide with pedestrians.

The present invention is realized by the following technical solutions: a pedestrian protection system, which is characterized in that it includes an airbag, a sensing module for monitoring and real-time outputting the pedestrian movement trajectory and the number of people within a preset distance, and a perception module for receiving the pedestrian movement trajectory and The control unit of the number of people information, the airbag includes at least two cavities, the sensing module is connected to the input end of the control unit, the airbag is connected to the output end of the control unit, and the control unit is also used for predicting according to the pedestrian movement trajectory information The collision area between pedestrians and vehicles, and the number of pedestrians is obtained when the collision area between pedestrians and vehicles is at the front end of the vehicle. The control unit is also used to control all cavities of the airbag to explode at the same time when the number of pedestrians is two or more. The control unit is also used to predict the position of the collision point between the pedestrian and the vehicle after the specific area of the front end of the vehicle when the number of pedestrians is less than two, and control the corresponding cavity of the airbag to explode according to the position of the predicted collision point.

When the perception module detects that there is a pedestrian within the preset distance, it outputs the pedestrian movement trajectory and the number of people within the preset distance in real time to the control unit. The control unit receives the pedestrian movement trajectory information and predicts the collision area between the pedestrian and the vehicle. When the collision area is at the front of the vehicle, the control unit obtains the information of the number of pedestrians. When the number of pedestrians is two or more, the control unit controls all airbag cavities to explode at the same time. When the number of pedestrians is less than two, the control unit predicts the collision between the pedestrian and the vehicle. The position of the point is in the specific area of the front end of the vehicle. The control unit controls the corresponding cavity of the airbag to explode according to the position of the collision point between the pedestrian and the vehicle at the front end of the vehicle. Usually, the airbag will be fully deployed when the pedestrian and the vehicle collide at the front end of the vehicle. One-time use will cause waste of airbag use. The conventional method that can be thought of to solve this problem is that the control unit calculates the collision intensity and delivers a preset volume of gas to the airbag at a preset rate, so that the airbag can be deployed to a suitable size. If the distance from the vehicle is too close, the airbag cannot be deployed in time and the safety of pedestrians cannot be guaranteed. The present invention divides the airbag into at least two cavities, and controls the airbag to explode the corresponding cavity in the specific area at the front end of the vehicle according to the position of the predicted collision point of the pedestrian. The size of the vehicle airbag deployment is just right to protect the pedestrian from injury, prevent the vehicle airbag from over-protecting the pedestrian, reduce the unnecessary cost of the vehicle owner on the airbag, and improve the accuracy and utilization rate of the airbag explosion.

In the above pedestrian protection system, the perception module includes an environment perception unit for monitoring whether there are pedestrians within a preset distance, and a lidar for tracking the number of pedestrians and their movement trajectories, and the environment perception unit monitors the preset distance. Whether there is a pedestrian, if there is a pedestrian within the preset distance, it outputs a sensing signal to the control unit, and the lidar tracks the number of pedestrians and the movement trajectory of the pedestrian and outputs it to the control unit. After receiving the sensing signal, the control unit obtains the pedestrian movement trajectory information output by the lidar , the control unit predicts the pedestrian collision area according to the pedestrian movement trajectory information, and when the pedestrian collision area is predicted to be in the front end area of the vehicle, the control unit obtains the number of pedestrians. If the number of pedestrians is two or more, the control unit controls all airbag cavities Detonate at the same time. If there are less than two pedestrians, the control unit predicts that the collision point between the pedestrian and the vehicle is in the specific area of the front end of the vehicle and controls the airbag to detonate the corresponding cavity, the environment perception unit and the laser according to the position of the predicted collision point. Radar can accurately determine the information of pedestrians and improve the accuracy of airbag deployment.

In the above pedestrian protection system, the environment perception unit includes a monocular camera for monitoring whether there is a pedestrian within a preset distance during the day and an infrared camera for monitoring whether there is a pedestrian within the preset distance at night. Switching to infrared camera monitoring at night can accurately determine whether there are pedestrians within the preset distance, prevent pedestrians from being unable to be detected by monocular or binocular cameras at night, improve the accuracy of pedestrian monitoring, and improve the accuracy of airbag deployment.

The present invention also includes the following scheme: a pedestrian protection method, characterized in that the method comprises the following steps:

Monitor whether there is a pedestrian within the preset distance, and when there is a pedestrian within the preset distance, monitor the pedestrian movement trajectory and the number of people within the preset distance in real time and output it to the control unit;

The control unit predicts the collision area between the pedestrian and the vehicle according to the pedestrian movement trajectory information, and obtains the information on the number of pedestrians when the collision area between the pedestrian and the vehicle is predicted to be in the front end area of the vehicle. If the number of pedestrians is two or more, it controls all airbag cavities Simultaneously explode, if the number of pedestrians is less than two, predict that the collision point between the pedestrian and the vehicle is in the specific area of the front end of the vehicle, and control the corresponding cavity of the airbag to explode according to the predicted collision point position.

The sensing module detects whether there is a pedestrian within the preset distance, and when the sensing module detects that there is a pedestrian within the preset distance, it outputs the pedestrian movement trajectory and the number of people within the preset distance in real time to the control unit, and the control unit predicts the pedestrian after receiving the pedestrian movement trajectory information. In the collision area with the vehicle, when the collision area between the pedestrian and the vehicle is at the front of the vehicle, the control unit obtains information on the number of pedestrians. When the number of pedestrians is two or more, the control unit controls all the cavities of the airbag to explode at the same time. When the number of pedestrians is When there are less than two, the control unit predicts that the position of the collision point between the pedestrian and the vehicle is in a specific area at the front end of the vehicle, and the control unit controls the corresponding cavity of the airbag to explode according to the position of the collision point between the pedestrian and the vehicle at the front end of the vehicle. The number of pedestrians in the present invention is When there are less than two, the corresponding cavity of the airbag is controlled at the specific position of the front end of the vehicle according to the collision point between the pedestrian and the vehicle, so that the size of the vehicle airbag is just enough to protect the pedestrian from injury, prevent the vehicle airbag from overprotecting the pedestrian, and improve the airbag. Explosion accuracy and utilization.

In the above pedestrian protection method, the collision area between the pedestrian and the vehicle is predicted to be at the front end of the vehicle, and the relative speed of the pedestrian and the vehicle is also determined, and the number of pedestrians is obtained when the relative speed of the pedestrian and the vehicle is greater than the preset speed. The relative speed of the pedestrian can improve the accuracy of the specific time prediction of the collision between the vehicle and the pedestrian, and improve the accuracy of the explosion of the airbag cavity.

In the above-mentioned pedestrian protection method, the cavity corresponding to the above-mentioned control airbag explosion includes:

If the predicted pedestrian collision point is in the left area of the front end of the vehicle, the left cavity and the middle cavity of the airbag are controlled to explode;

If the pedestrian collision point is predicted to be in the central area of the front end of the vehicle, the cavity in the airbag is controlled to explode;

If the predicted pedestrian collision point is in the right area of the front end of the vehicle, the right cavity and the middle cavity of the airbag are controlled to explode.

The control unit controls the left cavity and the middle cavity of the airbag to explode. When the pedestrian collision point is in the middle side area, the control unit controls the airbag middle cavity to explode. When the pedestrian collision point is in the right area, the control unit controls the airbag The right cavity and the middle cavity explode, and according to the position of the collision point, an airbag with a suitable size to protect pedestrians is deployed to prevent overprotection of pedestrians.

In the above-mentioned pedestrian protection method, the left area includes an area of -200 to -600 mm from the front end of the vehicle with the center of the vehicle as a reference, and the central area includes an area of -200 to 200 mm from the front end of the vehicle with the center of the vehicle as a reference. The right area includes the area within 200mm to 600mm from the front end of the vehicle with the vehicle center as the reference. The accuracy of prediction can be improved by dividing the left area, the center area and the right area in the form of coordinates with the vehicle center as the reference.

In the above pedestrian protection method, if the relative speed of the pedestrian and the vehicle is not greater than the preset speed when judging the relative speed of the pedestrian and the vehicle, the relative speed of the pedestrian and the vehicle is kept monitored until the relative speed of the pedestrian and the vehicle is greater than the preset speed. , when the relative speed of the pedestrian and the vehicle is not greater than the preset speed, continue to monitor the relative speed of the pedestrian and the vehicle until the relative speed of the pedestrian and the vehicle is greater than the preset speed. When the relative speed of the weak road and the vehicle is lower than the preset speed There will not be too much danger, and the accuracy of airbag deployment can be improved.

In the above pedestrian protection method, if the predicted collision area between the pedestrian and the vehicle is not in the front end area of the vehicle when the collision area between the pedestrian and the vehicle is predicted, the prediction of the collision area between the pedestrian and the vehicle is kept until the collision area between the pedestrian and the vehicle is within the vehicle. Front end, if the predicted collision area is not at the front end of the vehicle, it means that the probability of pedestrian and vehicle collision is very low, which improves the accuracy of airbag deployment.

In the above pedestrian protection method, if there is no pedestrian within the preset distance when monitoring whether there is a pedestrian within the preset distance, the area within the preset distance will be monitored until a pedestrian appears, and only a pedestrian will appear within the preset distance. If there is a possibility of a collision, monitoring whether there is a pedestrian within a preset distance improves the accuracy of the airbag deployment of the method.

Compared with the prior art, the pedestrian protection method and system of the present invention have the following advantages:

1. The present invention controls the corresponding cavity of the airbag to explode in a specific area at the front end of the vehicle according to the position of the collision point predicted by the pedestrian, so that the size of the vehicle airbag deployment is appropriate, preventing the vehicle airbag from over-protecting pedestrians, and improving the utilization rate of the airbag.

2. The present invention judges the relative speed of the vehicle and the pedestrian, can accurately judge the specific time of the collision between the vehicle and the pedestrian, and improves the accuracy of the airbag cavity explosion.

Description of drawings

Figure 1 is a schematic structural diagram of a pedestrian protection system;

Figure 2 is a schematic diagram of a pedestrian protection method.

In the figure, 1, perception module; 11, environmental perception unit; 12, lidar; 111, monocular camera; 112, infrared camera; 2, control unit; 3, airbag; 31, left cavity; 32, middle cavity; 33. Right cavity.

Detailed ways

In order to make the technical problems, technical solutions and advantages solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

As shown in FIG. 1 , the pedestrian protection system includes: a control unit 2 , a sensing module 1 and an airbag 3 , the sensing module 1 includes an environment sensing unit 11 and a lidar 12 , and the environment sensing unit 11 includes a monocular camera 111 and an infrared camera 112 , The monocular camera 111 , the infrared camera 112 and the lidar 12 are all connected to the input end of the control unit 2 , and the airbag 3 is connected to the output end of the control unit 2 .

The airbag 3 of the present invention includes an installation box, a left cavity 31 gas generator, a middle cavity 32 gas generator, a right cavity 33 gas generator, a left cavity 31 air bag, a middle cavity 32 air bag and a right cavity 33 air bag, the left cavity 31 gas generator is connected with the left cavity 31 air bag, the middle cavity 32 gas generator is connected with the middle cavity 32 air bag, and the right cavity 33 air bag is connected with the right cavity 33 generator , the left cavity 31 gas generator, the middle cavity 32 gas generator and the right cavity 33 gas generator are all connected to the control unit, the left cavity 31 gas generator, the middle cavity 32 gas generator and the right cavity 33 gas generator The gas generators are all installed in the installation box. The air bag in the left cavity 31, the air bag in the middle cavity 32 and the air bag in the right cavity 33 are exploded at the same time, and the shape is T-shaped. The inflatable volume of a single gas generator is 50-80L. After the combination, the air bag can be filled with a volume of 150-240L. The thickness of the filling area of the middle cavity of the air bag is 180-200 mm, and the thickness of the filling area of the left and right cavities is 80-100 mm.

The sensing module 1 monitors whether there is a pedestrian within the preset distance, and when the sensing module 1 detects that there is a pedestrian within the preset distance, it outputs the pedestrian movement trajectory and the number of people within the preset distance in real time to the control unit 2, and the control unit 2 receives the pedestrian movement trajectory. After the information is obtained, the collision area between pedestrians and vehicles is predicted. When the collision area between pedestrians and vehicles is in the front end area of the vehicle, the control unit 2 obtains the information on the number of pedestrians. When the number of pedestrians is two or more, the control unit 2 controls all the cavities of the airbag 3 at the same time. When the number of pedestrians is less than two, the control unit 2 predicts that the position of the collision point between the pedestrian and the vehicle is in the specific area of the front end of the vehicle, and the control unit 2 controls the airbag 3 to explode the corresponding cavity according to the position of the collision point between the pedestrian and the vehicle. .

Usually a pedestrian and a vehicle collide at the front end of the vehicle and the airbag 3 will be fully deployed. The deployment of the airbag 3 is one-time, which will cause waste of the use of the airbag 3. The conventional method that can be thought of to solve this problem is that the control unit calculates the collision intensity to predict Set the speed to deliver a preset volume of gas to the airbag 3, so that the airbag 3 can be deployed in a suitable size. If the distance between the pedestrian and the vehicle is too close, it will not be able to be deployed in time, and the safety of the pedestrian cannot be guaranteed. The present invention divides the airbag 3 into three cavities. , according to the predicted position of the pedestrian collision point, the corresponding cavity of the airbag 3 is controlled in the specific area at the front end of the vehicle, so that the size of the vehicle airbag 3 is just enough to protect the pedestrian from injury, prevent the vehicle airbag from overprotecting the pedestrian, reduce the The unnecessary expense of the vehicle owner on the airbag 3 is avoided, and the accuracy and utilization rate of the airbag 3-point explosion are improved.

As shown in Figure 2, the pedestrian protection method of the present invention is based on the above-mentioned pedestrian protection system, and the method steps include: the sensing unit 1 monitors whether there is a pedestrian within a preset distance such as 150m, if not, continues to monitor, and if so, monitors and outputs the pedestrian's information in real time. The movement track information, that is, the speed of the pedestrian, the distance information between the pedestrian and the vehicle, and the number of people are sent to the control unit.

The control unit receives the pedestrian's trajectory information and detects the collision area of vulnerable road users. If the predicted pedestrian's collision area is not at the front of the vehicle, it continues to predict the pedestrian's collision area until it appears at the front of the vehicle. If the predicted pedestrian's collision area is at the front of the vehicle Then the relative speed of pedestrian and vehicle is judged at the same time.

If the relative speed of the pedestrian and the vehicle is not greater than the preset value, such as 35km/h, continue to monitor the relative speed of the pedestrian and the vehicle until it can be greater than the preset value. If the relative speed of the pedestrian and the vehicle is greater than the preset value, obtain the number of pedestrians information.

If the number of pedestrians is two or more, the left cavity 31, the middle cavity 32 and the right cavity 33 of the airbag 3 will be exploded at the same time; if the number of pedestrians is less than two, the collision point of the pedestrian is predicted to be at the vehicle In the specific area of the front end, according to the position of the predicted pedestrian collision point, the airbag is controlled to explode the corresponding cavity at 3 points in the specific area of the front end of the vehicle.

If the predicted pedestrian collision point is located in the left area of the front end of the vehicle, that is, within the range of -200 to -600 mm from the front end of the vehicle with the vehicle center as the reference, the left cavity 31 and the middle cavity 32 of the airbag 3 are controlled to explode.

If the predicted pedestrian collision point is in the central area of the front end of the vehicle, that is, within the range of -200 to 200 mm from the front end of the vehicle with the center of the vehicle as a reference, control the cavity 32 in the airbag 3 to explode.

If the predicted pedestrian collision point is within 200 mm to 600 mm of the vehicle front end with the vehicle center as the reference in the right area of the vehicle front end, the right cavity 33 and the middle cavity 32 of the airbag 3 are controlled to explode.

The control unit 2 sends an ignition command 40-80ms before the collision to control the corresponding cavity of the airbag 3 to explode.

The working principle of the existing airbag is that when the car collides, the collision sensor will capture the collision data and transmit the received data to the control unit 2, and then the control unit 2 will analyze the data according to the collision intensity. If the collision data captured by the sensor When the conditions for deploying the airbag are reached, it will issue a command to release the airbag to the inflation system, so that the inflation system will be ignited, and the high-density solid substance sodium azide or ammonium nitrate will react to generate a large amount of low-density nitrogen gas, so that the airbag will be released. It expands and pops up in an instant, providing cushioning protection for pedestrians.

The sensing module 1 detects whether there is a pedestrian within the preset distance, and when the sensing module 1 detects that there is a pedestrian within the preset distance, it outputs the pedestrian movement track and the number of people within the preset distance in real time to the control unit 2, and the control unit 2 receives the pedestrian movement track. After the information is obtained, the collision area between pedestrians and vehicles is predicted. When the collision area between pedestrians and vehicles is at the front of the vehicle, the control unit 2 obtains the information on the number of pedestrians. When the number of pedestrians is two or more, the control unit 2 controls all the cavities of the airbag 3 at the same time. When the number of pedestrians is less than two, the control unit 2 predicts the position of the collision point between the pedestrian and the vehicle at the front end of the vehicle, and the control unit 2 controls the airbag 3 to explode the corresponding cavity according to the position of the collision point between the pedestrian and the vehicle at the front end of the vehicle. body. When the number of pedestrians is less than two, the present invention controls the corresponding cavity of the airbag 3 to be exploded at the specific position of the front end of the vehicle according to the collision point between the pedestrian and the vehicle, so that the size of the vehicle airbag 3 is just enough to protect the pedestrians from injury and prevent the vehicle airbag from being injured. 3. Over-protection for pedestrians, improving the accuracy and utilization of airbag 3-point explosion.

The specific embodiments described herein are merely illustrative of the invention. Those skilled in the art to which the present invention pertains can make various modifications or additions to the described specific embodiments or substitute in similar manners, but will not deviate from the spirit of the present invention or go beyond the definitions of the appended claims range.

Claims (10)

1. The utility model provides a pedestrian protection system, characterized in that, including gasbag (3), be used for monitoring and real-time output to predetermine pedestrian movement track and the perception module (1) of number information and be used for receiving pedestrian movement track and the control unit (2) of number information in the distance, three cavity is divided into to gasbag (3), perception module (1) is connected with the control unit (2) input, gasbag (3) are connected with the control unit (2) output, the control unit (2) still are used for predicting the collision region of pedestrian and vehicle and the collision region of pedestrian and vehicle obtains pedestrian's number information when the vehicle front end region according to pedestrian movement track information, the control unit (2) still are used for controlling all cavities of gasbag (3) and explode simultaneously when the pedestrian number is two and more, the control unit (2) still are used for predicting the position of pedestrian and vehicle collision point when the pedestrian number is two below and vehicle area and explode at vehicle front end region, the position of pedestrian and vehicle collision point is still used for predicting the pedestrian and vehicle And controlling the air bag (3) to explode the corresponding cavity according to the predicted position of the collision point after the front end specific area.

2. Pedestrian protection system according to claim 1, characterized in that the sensing module (1) comprises an environment sensing unit (11) for monitoring whether there is a pedestrian within a preset distance and a lidar (12) for tracking the number of pedestrians and the movement trajectory of the pedestrian.

3. Pedestrian protection system according to claim 2, characterized in that the environment sensing unit (11) comprises a monocular camera (111) for daytime monitoring if there is a pedestrian within a preset distance and an infrared camera (112) for night monitoring if there is a pedestrian within a preset distance.

4. A pedestrian protection method, characterized in that the method comprises the steps of:

monitoring whether a pedestrian exists in a preset distance, and monitoring the movement track of the pedestrian and the information of the number of the pedestrians in the preset distance in real time when the pedestrian exists in the preset distance and outputting the information to the control unit (2);

the control unit (2) predicts a pedestrian and vehicle collision region according to the pedestrian motion track information, acquires pedestrian number information when the pedestrian and vehicle collision region is predicted to be in a vehicle front end region, controls all cavities of the air bag (3) to explode at the same time if the number of pedestrians is two or more, predicts that the position of a pedestrian and vehicle collision point is in a vehicle front end specific region if the number of pedestrians is two or less, and controls the air bag (3) to explode a corresponding cavity according to the predicted position of the collision point;

the air bag (3) is divided into three cavities.

5. The pedestrian protection method according to claim 4, wherein the collision region of the pedestrian with the vehicle is predicted to be at a front end of the vehicle and the relative speed of the pedestrian and the vehicle is also determined, and the pedestrian number information is acquired when the relative speed of the pedestrian and the vehicle is greater than a preset speed.

6. A pedestrian protection method according to claim 4 or 5, characterized in that said controlling the airbag (3) to detonate the corresponding chamber comprises:

if the predicted collision point of the pedestrian and the vehicle is in the left area of the front end of the vehicle, the left cavity (31) and the middle cavity (32) of the air bag (3) are controlled to explode;

if the predicted collision point of the pedestrian and the vehicle is in the central area of the front end of the vehicle, controlling the explosion of a cavity (32) in the air bag (3);

and if the predicted collision point of the pedestrian and the vehicle is in the right area of the front end of the vehicle, controlling the right cavity (33) and the middle cavity (32) of the air bag (3) to explode.

7. The pedestrian protection method according to claim 6, wherein the vehicle front end left side region is included in a-200 to-600 mm region of the vehicle front end with reference to a vehicle center, the vehicle front end center region is included in a-200 to 200mm region of the vehicle front end with reference to the vehicle center, and the vehicle front end right side region is included in a 200 to 600mm region of the vehicle front end with reference to the vehicle center.

8. The pedestrian protection method of claim 5, wherein if the relative speed of the pedestrian and the vehicle is not greater than the predetermined speed when determining the relative speed of the pedestrian and the vehicle, the relative speed of the pedestrian and the vehicle is kept monitored until the relative speed of the pedestrian and the vehicle is greater than the predetermined speed.

9. The pedestrian protection method according to claim 4, wherein if the predicted collision region of the pedestrian with the vehicle is not at the front end of the vehicle when the collision region of the pedestrian with the vehicle is predicted, the prediction of the collision region of the pedestrian with the vehicle is maintained until the collision region of the pedestrian with the vehicle is at the front end of the vehicle.

10. The pedestrian protection method according to claim 4, wherein if there is no pedestrian within the predetermined distance while monitoring whether there is a pedestrian within the predetermined distance, the monitoring is maintained for the area within the predetermined distance until a pedestrian is present.

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